CN106292357B - A kind of apparatus control method and system - Google Patents
A kind of apparatus control method and system Download PDFInfo
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- CN106292357B CN106292357B CN201510325011.1A CN201510325011A CN106292357B CN 106292357 B CN106292357 B CN 106292357B CN 201510325011 A CN201510325011 A CN 201510325011A CN 106292357 B CN106292357 B CN 106292357B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention discloses a kind of apparatus control method and systems, the signal of sender unit transmitting is received by signal receiving device, wherein, signal receiving device includes at least three signal receiver that different directions are arranged in, when the signal received is specified sender unit transmitting, the angular relationship of sender unit and equipment is determined according to the signal receiver for receiving signal, for adjusting the angle between equipment and sender unit, and then realize judgement of the equipment to the direction for the user for carrying sender unit, and it further realizes equipment and user is followed.This programme follows user by the signal receiving device realization of equipment, can be achieved with following people or object by the control of camera and microphone without operator, avoids the debugging to camera and microphone, reduce the workload of maintenance personnel.
Description
Technical field
The present invention relates to control field more particularly to a kind of apparatus control method and systems.
Background technique
Robot, which can maintain a certain distance, follows specified people or object, such as: assistant robot, assistant robot master
If being directed to the old man or blind person of inconvenient walking, as walking auxiliary required for daily life and work；Or underwater robot,
For tracking underwater animal, to obtain the life habit etc. of underwater animal.
The robot for following generallyd use is generally fed back by the live video for providing the camera in robot
To operator, Lai Shixian remote control robot, operator, can be with guided robot according to each when watching live video
Kind direction moves and executes various operations.
However, needing often to adjust the camera and microphone in robot using the above scheme, so that the phase in robot
Machine and microphone keep normal operating conditions, and then allow the robot to normally follow, however, often debugging camera and microphone this just
Significantly increase the workload of robot maintenance personnel.
Summary of the invention
In view of this, the present invention provides a kind of apparatus control method and system, to solve to need often to adjust in the prior art
The problem of trying camera and microphone, and increasing the workload of maintenance personnel, concrete scheme is as follows:
A kind of apparatus control method, comprising:
The signal of sender unit real time emission is received by signal receiving device, the signal receiving device includes setting
Set at least three signal receiver in different directions；
Judge whether the signal received is specified sender unit transmitting；
If so, determining that the angle of the sender unit and the equipment is closed according to the signal receiver for receiving signal
System, the angular relationship are used to adjust the angle between the equipment and the sender unit.
Further, determine that the sender unit is set with described in the signal receiver that the basis receives signal
After standby angular relationship, further includes:
The direction of motion for adjusting the equipment makes the direction of motion of the equipment towards the sender unit.
Further, determine that the sender unit is set with described in the signal receiver that the basis receives signal
After standby angular relationship, further includes:
The distance between the equipment and sender unit are determined by range unit, in order to true by the distance
The movement velocity of the fixed equipment.
Further, the signal that sender unit real time emission is received by signal receiving device, specifically:
The signal emitted by one or several reception sender units at least three signal receiver, and
It reads.
Further, the signal receiver that the basis receives signal determines the sender unit and the equipment
Angular relationship, specifically:
Determine that at least three signal receiver described in the given time is respectively received the number of signal；
The number and at least three signal receiver of signal are respectively received according at least three signal receiver
Between angular relationship determine the angular relationship of the sender unit Yu the equipment.
A kind of apparatus control system, comprising: signal receiving device, the judging unit being connected with the signal receiving device,
The determination unit being connected with the judging unit, in which:
The signal receiving device is used to receive the signal of sender unit real time emission, the signal receiving device packet
Include at least three signal receiver that different directions are set；
Whether the signal that the judging unit is used to judge to receive is specified sender unit transmitting, if so,
It then issues first and determines signal；
The determination unit determines signal for receiving described first, and is determined according to the signal receiver for receiving signal
The angular relationship of the sender unit and the equipment, the angular relationship are sent out for adjusting the equipment and the signal
Angle between injection device.
Further, further includes: the adjustment unit being connected with the determination unit, in which:
The adjustment unit is used to adjust the direction of motion of the equipment, makes the direction of motion of the equipment towards institute
State sender unit.
Further, further includes: the range unit being connected with the adjustment unit, in which:
The range unit is for determining the distance between the equipment and the sender unit, in order to pass through
State the movement velocity that distance determines the equipment.
Further, the signal receiving device is specifically used for: by one at least three signal receiver or
Several signals for receiving sender unit transmitting, and the signal received described in acquisition.
Further, the determination unit includes: first to determine subelement, with described first determine that subelement is connected the
Two determine subelement, in which:
Described first determines subelement for determining that at least three signal receiver described in the given time is respectively received
The number of signal；
It is described second determine subelement be used for according at least three signal receiver be respectively received signal number and
Angular relationship between at least three signal receiver determines the angular relationship of the sender unit Yu the equipment.
It can be seen from the above technical proposal that apparatus control method disclosed in the present application and system, are received by signal and are filled
Set the signal for receiving sender unit transmitting, wherein signal receiving device includes at least three signal that different directions are arranged in
Receiver is determined when the signal received is specified sender unit transmitting according to the signal receiver for receiving signal
The angular relationship of sender unit and equipment for adjusting the angle between equipment and sender unit, and then is realized and is set
The judgement in the standby direction to the user for carrying sender unit, and further realize equipment and user is followed.This programme
User is followed by the signal receiving device realization of equipment, it can be real by the control of camera and microphone without operator
Now people or object are followed, the debugging to camera and microphone is avoided, reduces the workload of maintenance personnel.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of apparatus control method disclosed by the embodiments of the present invention；
Fig. 2 is a kind of flow chart of apparatus control method disclosed by the embodiments of the present invention；
Fig. 3 is a kind of flow chart of apparatus control method disclosed by the embodiments of the present invention；
Fig. 4 is a kind of flow chart of apparatus control method disclosed by the embodiments of the present invention；
Fig. 5 is the schematic diagram of a kind of sender unit disclosed by the embodiments of the present invention and equipment；
Fig. 6 is a kind of structural schematic diagram of apparatus control system disclosed by the embodiments of the present invention；
Fig. 7 is a kind of structural schematic diagram of apparatus control system disclosed by the embodiments of the present invention；
Fig. 8 is a kind of structural schematic diagram of apparatus control system disclosed by the embodiments of the present invention；
Fig. 9 is a kind of structural schematic diagram of determination unit disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The invention discloses a kind of apparatus control method, flow chart is as shown in Figure 1, comprising:
Step S11, the signal of sender unit real time emission is received by signal receiving device；
Sender unit is the portable device of user, and sender unit sends signal in real time, in order to equipment
Real-time reception signal, and user is followed according to signal.
Signal receiving device includes at least three signal receiver that different directions are arranged in.Signal receiver setting is being set
Standby preset fixed position, for 3 signal receivers are set in an equipment: assuming that the direction of equipment moving is
Before, using the center of equipment as origin, a signal receiver is set immediately ahead of equipment, then the angle of the signal receiver
It is set as 0 degree, is arranged at left and right sides of the signal receiver immediately ahead of equipment a signal receiver is respectively set at this, take
Counterclockwise it is positive, then, the angle for the signal receiver being arranged on the left of equipment is+60 degree, is arranged on the right side of equipment
The angle of signal receiver is -60 degree, and it may be other angles that the signal receiver at left and right sides of equipment, which is arranged in, herein not
It is specifically limited.
3 signal receivers successively receive the signal of sender unit transmitting, since sender unit is to send out in real time
Penetrate signal, sender unit at a fixed time in transmitting fixed quantity number signal, this guarantees when fixed
In, signal receiving device can receive the signal of fixed quantity number, but due to the difference of angle, it is possible to it is not every
A signal receiver can receive signal.
Specifically, sender unit can be infrared signal emitter, then signal receiving device is infrared signal
Reception device, signal receiver are infrared signal receiver.
When signal receiving device can't detect signal, control equipment carries out rotation circular motion and carrys out again signal acquisition hair
The signal of injection device transmitting, wherein sender unit can use positive Fresnel Lenses, expand infrared hair to form point light source
Firing angle.
Step S12, whether the signal that judgement receives is specified sender unit transmitting；
After the signal for receiving sender unit transmitting, signal is parsed, the hair of transmitting signal is determined after parsing
Whether injection device is specified sender unit, and equipment only responds the signal of specified sender unit transmitting,
To avoid when multiple users carry sender unit, equipment receives the sender unit transmitting that other users carry
Signal, to cause following for mistake.
Step S13, if so, determining that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System, angular relationship are used to adjust the angle between equipment and sender unit.
Equipment receives the signal of sender unit transmitting, and then determines the orientation where sender unit, with equipment
Center be origin, take and be counterclockwise positive, the direction of the current direction of equipment is front, then being assured that signal
Poor angle between emitter and the front of equipment.
Apparatus control method disclosed in the present embodiment receives the letter of sender unit transmitting by signal receiving device
Number, wherein signal receiving device includes at least three signal receiver that different directions are arranged in, when the signal received is to refer to
When determining sender unit transmitting, determine that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System for adjusting the angle between equipment and sender unit, and then realizes equipment to the use for carrying sender unit
The judgement in the direction at family, and further realize equipment and user is followed.This programme is realized by the signal receiving device of equipment
User is followed, can be achieved with following people or object by the control of camera and microphone without operator, is avoided pair
The debugging of camera and microphone reduces the workload of maintenance personnel.
Present embodiment discloses a kind of apparatus control method, flow chart is as shown in Figure 2, comprising:
Step S21, the signal of sender unit real time emission is received by signal receiving device；
Sender unit is the portable device of user, and sender unit sends signal in real time, in order to equipment
Real-time reception signal, and user is followed according to signal.
Signal receiving device includes at least three signal receiver that different directions are arranged in.Signal receiver setting is being set
Standby preset fixed position, for 3 signal receivers are set in an equipment: assuming that the direction of equipment moving is
Before, using the center of equipment as origin, a signal receiver is set immediately ahead of equipment, then the angle of the signal receiver
It is set as 0 degree, is arranged at left and right sides of the signal receiver immediately ahead of equipment a signal receiver is respectively set at this, take
Counterclockwise it is positive, then, the angle for the signal receiver being arranged on the left of equipment is+60 degree, is arranged on the right side of equipment
The angle of signal receiver is -60 degree, and it may be other angles that the signal receiver at left and right sides of equipment, which is arranged in, herein not
It is specifically limited.
Step S22, whether the signal that judgement receives is specified sender unit transmitting；
After the signal for receiving sender unit transmitting, signal is parsed, the letter of transmitting signal is determined after parsing
Whether number emitter is specified sender unit, and equipment only rings the signal of specified sender unit transmitting
It answers, to avoid when multiple users carry sender unit, equipment receives the signal of other users, to cause mistake
It follows.
Step S23, if so, determining that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System, angular relationship are used to adjust the angle between equipment and sender unit；
Equipment receives the signal of sender unit transmitting, and then determines the orientation where sender unit, with equipment
Center be origin, take and be counterclockwise positive, the direction of the current direction of equipment is front, then being assured that signal
Poor angle between emitter and the front of equipment.
Step S24, the direction of motion for adjusting equipment, makes the direction of motion of equipment towards sender unit.
After angle poor between sender unit and the front of equipment has been determined, the front angle of equipment is adjusted
Degree, so that the front face of the equipment sender unit, in order to which equipment follows sender unit.
Apparatus control method disclosed in the present embodiment receives the letter of sender unit transmitting by signal receiving device
Number, wherein signal receiving device includes at least three signal receiver that different directions are arranged in, when the signal received is to refer to
When determining sender unit transmitting, determine that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System for adjusting the angle between equipment and sender unit, and then realizes equipment to the use for carrying sender unit
The judgement in the direction at family, and further realize equipment and user is followed.This programme is realized by the signal receiving device of equipment
User is followed, can be achieved with following people or object by the control of camera and microphone without operator, is avoided pair
The debugging of camera and microphone reduces the workload of maintenance personnel.
Present embodiment discloses a kind of apparatus control method, flow chart is as shown in Figure 3, comprising:
Step S31, the signal of sender unit real time emission is received by signal receiving device；
Sender unit is the portable device of user, and sender unit sends signal in real time, in order to equipment
Real-time reception signal, and user is followed according to signal.
Signal receiving device includes at least three signal receiver that different directions are arranged in.Signal receiver setting is being set
Standby preset fixed position, for 3 signal receivers are set in an equipment: assuming that the direction of equipment moving is
Before, using the center of equipment as origin, a signal receiver is set immediately ahead of equipment, then the angle of the signal receiver
It is set as 0 degree, is arranged at left and right sides of the signal receiver immediately ahead of equipment a signal receiver is respectively set at this, take
Counterclockwise it is positive, then, the angle for the signal receiver being arranged on the left of equipment is+60 degree, is arranged on the right side of equipment
The angle of signal receiver is -60 degree, and it may be other angles that the signal receiver at left and right sides of equipment, which is arranged in, herein not
It is specifically limited.
Step S32, whether the signal that judgement receives is specified sender unit transmitting；
After the signal for receiving sender unit transmitting, signal is parsed, the hair of transmitting signal is determined after parsing
Whether injection device is specified sender unit, and equipment only responds the signal of specified sender unit transmitting,
To avoid when multiple users carry sender unit, equipment receives the sender unit transmitting that other users carry
Signal, thus cause mistake follow.
Step S33, if so, determining that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System, angular relationship are used to adjust the angle between equipment and sender unit；
Equipment receives the signal of sender unit transmitting, and then determines the orientation where sender unit, with equipment
Center be origin, take and be counterclockwise positive, the direction of the current direction of equipment is front, then being assured that signal
Poor angle between emitter and the front of equipment.
Step S34, the direction of motion for adjusting equipment, makes the direction of motion of equipment towards sender unit；
After angle poor between sender unit and the front of equipment has been determined, adjust the front of equipment
The angle, so that the front face of the equipment sender unit, in order to which equipment follows sender unit.
Step S35, the distance between equipment and sender unit are determined by range unit, in order to true by distance
The movement velocity of locking equipment.
Range unit determine the step of the distance between equipment and sender unit can determined angular relationship it
After carry out, it is preferred that be adjustment equipment the direction of motion, make the direction of motion of equipment towards the laggard of sender unit
Row.
Range unit determines the distance between equipment and sender unit, not only for the movement speed for determining equipment
Degree, it can also be ensured that equipment is maintained a certain distance with sender unit.
Preferably, range unit can be specially supersonic range finder.
Apparatus control method disclosed in the present embodiment receives the letter of sender unit transmitting by signal receiving device
Number, wherein signal receiving device includes at least three signal receiver that different directions are arranged in, when the signal received is to refer to
When determining sender unit transmitting, determine that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System for adjusting the angle between equipment and sender unit, and then realizes equipment to the use for carrying sender unit
The judgement in the direction at family, and further realize equipment and user is followed.This programme is realized by the signal receiving device of equipment
User is followed, can be achieved with following people or object by the control of camera and microphone without operator, is avoided pair
The debugging of camera and microphone reduces the workload of maintenance personnel.
Present embodiment discloses a kind of apparatus control method, flow chart is as shown in Figure 4, comprising:
Step S41, it is sent out by one or several reception signals at least three signal receiver in signal receiving device
The signal of injection device real time emission, and read；
Sender unit is the portable device of user, and sender unit sends signal in real time, in order to equipment
Real-time reception signal, and user is followed according to signal.
Signal receiving device includes at least three signal receiver that different directions are arranged in.Signal receiver setting is being set
Standby preset fixed position, for 3 signal receivers are set in an equipment: assuming that the direction of equipment moving is
Before, using the center of equipment as origin, a signal receiver is set immediately ahead of equipment, then the angle of the signal receiver
It is set as 0 degree, is arranged at left and right sides of the signal receiver immediately ahead of equipment a signal receiver is respectively set at this, take
Counterclockwise it is positive, then, the angle for the signal receiver being arranged on the left of equipment is+60 degree, is arranged on the right side of equipment
The angle of signal receiver is -60 degree, and it may be other angles that the signal receiver at left and right sides of equipment, which is arranged in, herein not
It is specifically limited.
3 signal receivers successively receive the signal of sender unit transmitting, since sender unit is to send out in real time
Penetrate signal, sender unit at a fixed time in transmitting fixed quantity number signal, this guarantees when fixed
In, signal receiving device can receive the signal of fixed quantity number, but due to the difference of angle, it is possible to it is not every
A signal receiver can receive signal, then being successively read the signal in the signal receiver for receiving signal.
Specifically, sender unit can be infrared signal emitter, then signal receiving device is infrared signal
Reception device, signal receiver are infrared signal receiver.
Step S42, whether the signal that judgement receives is specified sender unit transmitting；
After the signal for receiving sender unit transmitting, signal is parsed, the hair of transmitting signal is determined after parsing
Whether injection device is specified sender unit, and equipment only responds the signal of specified sender unit transmitting,
To avoid when multiple users carry sender unit, equipment receives the signal of other users, thus cause mistake with
With.
Step S43, if so, determining that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System, angular relationship are used to adjust the angle between equipment and sender unit.
Equipment receives the signal of sender unit transmitting, and then determines the orientation where sender unit, with equipment
Center be origin, take and be counterclockwise positive, the direction of the current direction of equipment is front, then being assured that signal
Poor angle between emitter and the front of equipment.
Specifically, determining the angular relationship of sender unit and equipment according to the signal receiver received specifically:
Determine the number for the signal that at least three signal receiver is respectively received in the given time；According at least three signal receiver
The angular relationship being respectively received between the number and at least three signal receiver of signal determines sender unit and equipment
Angular relationship.
It is existing for example, as shown in Figure 5, comprising: sender unit 51, equipment 52, the first signal receiver L, second
Signal receiver F, third signal receiver R.
Signal receiving device can receive signal in the signal that sender unit 51 emits within the scope of dotted line, this
When, only second signal receiver F and third signal receiver R receive signal.According to signal receiver each in the predetermined time
The number of the signal received is as the foundation calculated angle.
It takes and is counterclockwise positive, it is assumed that the first signal receiver L, second signal receiver F, third signal receiver R
+ 60 degree are separately fixed at, 0 degree and -60 are spent at positions, the signal number that 3 signal receivers are respectively received in the predetermined time
It is 0,2 and 3, therefore, can determines the differential seat angle between sender unit and equipment according to the following formula:
[60 × 0+0 × 2+ (- 60) × 3] ÷ (0+2+3)=- 36 degree.
It is filled therefore it may only be necessary to equipment be rotated clockwise 36 degree, the direction of motion of equipment can just emitted towards signal
It sets.
In addition, can also be received using the signal receiver and each signal for receiving signal in addition to using the above method
The intensity that device receives signal assists determining the orientation where sender unit, herein no longer illustrated in greater detail.
Apparatus control method disclosed in the present embodiment receives the letter of sender unit transmitting by signal receiving device
Number, wherein signal receiving device includes at least three signal receiver that different directions are arranged in, when the signal received is to refer to
When determining sender unit transmitting, determine that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System for adjusting the angle between equipment and sender unit, and then realizes equipment to the use for carrying sender unit
The judgement in the direction at family, and further realize equipment and user is followed.This programme is realized by the signal receiving device of equipment
User is followed, can be achieved with following people or object by the control of camera and microphone without operator, is avoided pair
The debugging of camera and microphone reduces the workload of maintenance personnel.
Present embodiment discloses a kind of apparatus control system, structural schematic diagram is as shown in Figure 6, comprising: signal receives dress
61 are set, the judging unit 62 being connected with signal receiving device 61, the determination unit 63 being connected with judging unit 62, in which:
Signal receiving device 61 is used to receive the signal of sender unit real time emission, and signal receiving device includes setting
In at least three signal receiver of different directions.
Sender unit is the portable device of user, and sender unit sends signal in real time, in order to equipment
Real-time reception signal, and user is followed according to signal.
The preset fixed position of equipment is arranged in signal receiver, is received so that 3 signals are arranged in an equipment
For device: assuming that before the direction of equipment moving is, using the center of equipment as origin, a signal being arranged immediately ahead of equipment and connects
Device is received, then the angle of the signal receiver is set as 0 degree, in the left and right two that the signal receiver immediately ahead of equipment is arranged in
A signal receiver is respectively set in side, takes and is counterclockwise positive, then, the angle for the signal receiver being arranged on the left of equipment
Degree is+60 degree, and the angle that the signal receiver on the right side of equipment is arranged in is -60 degree, and the signal at left and right sides of equipment is arranged in and connects
Receiving device may be other angles, be not specifically limited herein.
3 signal receivers successively receive the signal of sender unit transmitting, since sender unit is to send out in real time
Penetrate signal, sender unit at a fixed time in transmitting fixed quantity number signal, this guarantees when fixed
In, signal receiving device can receive the signal of fixed quantity number, but due to the difference of angle, it is possible to it is not every
A signal receiver can receive signal.
Specifically, sender unit can be infrared signal emitter, then signal receiving device is infrared signal
Reception device, signal receiver are infrared signal receiver.
When signal receiving device can't detect signal, control equipment carries out rotation circular motion and carrys out again signal acquisition hair
The signal of injection device transmitting, wherein sender unit can use positive Fresnel Lenses, expand infrared hair to form point light source
Firing angle.
Whether the signal that judging unit 62 is used to judge to receive is specified sender unit transmitting, if so, issuing
First determines signal.
After the signal for receiving sender unit transmitting, signal is parsed, the hair of transmitting signal is determined after parsing
Whether injection device is specified sender unit, and equipment only responds the signal of specified sender unit transmitting,
To avoid when multiple users carry sender unit, equipment receives the sender unit transmitting that other users carry
Signal, to cause following for mistake.
Determination unit 63 determines signal for receiving first, and determines that signal is sent out according to the signal receiver for receiving signal
The angular relationship of injection device and equipment, angular relationship are used to adjust the angle between equipment and sender unit.
Equipment receives the signal of sender unit transmitting, and then determines the orientation where sender unit, with equipment
Center be origin, take and be counterclockwise positive, the direction of the current direction of equipment is front, then being assured that signal
Poor angle between emitter and the front of equipment.
Apparatus control system disclosed in the present embodiment receives the letter of sender unit transmitting by signal receiving device
Number, wherein signal receiving device includes at least three signal receiver that different directions are arranged in, when the signal received is to refer to
When determining sender unit transmitting, determination unit determines sender unit and equipment according to the signal receiver for receiving signal
Angular relationship, for adjusting the angle between equipment and sender unit, and then realize equipment to carrying signal transmitting
The judgement in the direction of the user of device, and further realize equipment and user is followed.This programme is received by the signal of equipment
Device realization follows user, can be achieved with following people or object by the control of camera and microphone without operator,
The debugging to camera and microphone is avoided, the workload of maintenance personnel is reduced.
Present embodiment discloses a kind of apparatus control system, structural schematic diagram as shown in fig. 7, comprises: signal receive dress
71 are set, the judging unit 72 being connected with signal receiving device 71, the determination unit 73 being connected with judging unit 72, with determination unit
73 connected adjustment units 74.
In addition to structure identical with a upper embodiment, the present embodiment also adds adjustment unit 74.
Wherein adjustment unit 74 is used to adjust the direction of motion of equipment, emits the direction of motion of equipment towards signal and fills
It sets.
After angle poor between sender unit and the front of equipment has been determined, the front of equipment is adjusted
Angle, so that the front face of the equipment sender unit, in order to which equipment follows sender unit.
Apparatus control method disclosed in the present embodiment receives the letter of sender unit transmitting by signal receiving device
Number, wherein signal receiving device includes at least three signal receiver that different directions are arranged in, when the signal received is to refer to
When determining sender unit transmitting, determine that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System for adjusting the angle between equipment and sender unit, and then realizes equipment to the use for carrying sender unit
The judgement in the direction at family, and further realize equipment and user is followed.This programme is realized by the signal receiving device of equipment
User is followed, can be achieved with following people or object by the control of camera and microphone without operator, is avoided pair
The debugging of camera and microphone reduces the workload of maintenance personnel.
Present embodiment discloses a kind of apparatus control system, structural schematic diagram is as shown in Figure 8, comprising: signal receives dress
81 are set, the judging unit 82 being connected with signal receiving device 81, the determination unit 83 being connected with judging unit 82, with determination unit
83 connected adjustment units 84, the range unit 85 being connected with adjustment unit 84.
Signal receiving device 81 is used to receive the signal of sender unit real time emission, and signal receiving device includes setting
In at least three signal receiver of different directions.
Sender unit is the portable device of user, and sender unit sends signal in real time, in order to equipment
Real-time reception signal, and user is followed according to signal.
The preset fixed position of equipment is arranged in signal receiver, is received so that 3 signals are arranged in an equipment
For device: assuming that before the direction of equipment moving is, using the center of equipment as origin, a signal being arranged immediately ahead of equipment and connects
Device is received, then the angle of the signal receiver is set as 0 degree, in the left and right two that the signal receiver immediately ahead of equipment is arranged in
A signal receiver is respectively set in side, takes and is counterclockwise positive, then, the angle for the signal receiver being arranged on the left of equipment
Degree is+60 degree, and the angle that the signal receiver on the right side of equipment is arranged in is -60 degree, and the signal at left and right sides of equipment is arranged in and connects
Receiving device may be other angles, be not specifically limited herein.
3 signal receivers successively receive the signal of sender unit transmitting, since sender unit is to send out in real time
Penetrate signal, sender unit at a fixed time in transmitting fixed quantity number signal, this guarantees when fixed
In, signal receiving device can receive the signal of fixed quantity number, but due to the difference of angle, it is possible to it is not every
A signal receiver can receive signal, then being successively read the signal in the signal receiver for receiving signal.
Specifically, sender unit can be infrared signal emitter, then signal receiving device is infrared signal
Reception device, signal receiver are infrared signal receiver.
When signal receiving device can't detect signal, control equipment carries out rotation circular motion and carrys out again signal acquisition hair
The signal of injection device transmitting, wherein sender unit can use positive Fresnel Lenses, to expand infrared emission angle.
Whether the signal that judging unit 82 is used to judge to receive is specified sender unit transmitting, if so, issuing
First determines signal.
After the signal for receiving sender unit transmitting, signal is parsed, the hair of transmitting signal is determined after parsing
Whether injection device is specified sender unit, and equipment only responds the signal of specified sender unit transmitting,
To avoid when multiple users carry sender unit, equipment receives the sender unit transmitting that other users carry
Signal, thus cause mistake follow.
Determination unit 83 determines signal for receiving first, and determines that signal is sent out according to the signal receiver for receiving signal
The angular relationship of injection device and equipment, angular relationship are used to adjust the angle between equipment and sender unit.
Equipment receives the signal of sender unit transmitting, and then determines the orientation where sender unit, with equipment
Center be origin, take and be counterclockwise positive, the direction of the current direction of equipment is front, then being assured that signal
Poor angle between emitter and the front of equipment.
Wherein it is determined that the structural schematic diagram of unit 83 can be as shown in Figure 9, comprising: first determines subelement 91, with first
Determine that subelement 91 is connected second determines subelement 92.
Wherein, first determine that at least three signal receiver is respectively received subelement 91 in the given time for determining
The number of signal；Second determine subelement 92 be used to be respectively received Ei by it according at least three signal the number of signal with
And the angular relationship between at least three signal receiver determines the angular relationship of sender unit and equipment.
Specifically, existing for example, as shown in Figure 5, comprising: sender unit 51, equipment 52, the first signal receiver
L, second signal receiver F, third signal receiver R.
Signal receiving device can receive signal in the signal that sender unit 51 emits within the scope of dotted line, this
When, only second signal receiver F and third signal receiver R receive signal.According to signal receiver each in the predetermined time
The number of the signal received is as the foundation calculated angle.
It takes and is counterclockwise positive, it is assumed that the first signal receiver L, second signal receiver F, third signal receiver R
+ 60 degree are separately fixed at, 0 degree and -60 are spent at positions, the signal number that 3 signal receivers are respectively received in the predetermined time
It is 0,2 and 3, therefore, can determines the differential seat angle between sender unit and equipment according to the following formula:
[60 × 0+0 × 2+ (- 60) × 3] ÷ (0+2+3)=- 36 degree.
It is filled therefore it may only be necessary to equipment be rotated clockwise 36 degree, the direction of motion of equipment can just emitted towards signal
It sets.
In addition, can also be received using the signal receiver and each signal for receiving signal in addition to using the above method
The intensity that device receives signal assists determining the orientation where sender unit, herein no longer illustrated in greater detail.
Adjustment unit 84 is used to adjust the direction of motion of equipment, makes the direction of motion of equipment towards sender unit.
After angle poor between sender unit and the front of equipment has been determined, adjust the front of equipment
The angle, so that the front face of the equipment sender unit, in order to which equipment follows sender unit.
Range unit 85 is for determining the distance between equipment and sender unit, in order to determine equipment by distance
Movement velocity.
Range unit determines the distance between equipment and sender unit, not only for the movement speed for determining equipment
Degree, it can also be ensured that equipment is maintained a certain distance with sender unit.
Preferably, range unit can be specially supersonic range finder.
Apparatus control method disclosed in the present embodiment receives the letter of sender unit transmitting by signal receiving device
Number, wherein signal receiving device includes at least three signal receiver that different directions are arranged in, when the signal received is to refer to
When determining sender unit transmitting, determine that the angle of sender unit and equipment is closed according to the signal receiver for receiving signal
System for adjusting the angle between equipment and sender unit, and then realizes equipment to the use for carrying sender unit
The judgement in the direction at family, and further realize equipment and user is followed.This programme is realized by the signal receiving device of equipment
User is followed, can be achieved with following people or object by the control of camera and microphone without operator, is avoided pair
The debugging of camera and microphone reduces the workload of maintenance personnel.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of apparatus control method characterized by comprising
The signal of sender unit real time emission is received by signal receiving device, the signal receiving device includes that setting exists
At least three signal receiver of different directions, wherein described that sender unit real time emission is received by signal receiving device
Signal, specifically: pass through one or several receptions at least three signal receiver sender unit transmitting
Signal and reading；
Judge whether the signal received is specified sender unit transmitting；
If so, the angular relationship of the sender unit Yu the equipment is determined according to the signal receiver for receiving signal,
The angular relationship is used to adjust the angle between the equipment and the sender unit, wherein the basis receives
The signal receiver of signal determines the angular relationship of the sender unit Yu the equipment, specifically: it determines in pre- timing
Interior at least three signal receiver is respectively received the number of signal, is connect respectively according at least three signal receiver
Receive the angular relationship between the number and at least three signal receiver of signal determine the sender unit with it is described
The angular relationship of equipment.
2. the method according to claim 1, wherein being determined in the signal receiver that the basis receives signal
After the angular relationship of the sender unit and the equipment, further includes:
The direction of motion for adjusting the equipment makes the direction of motion of the equipment towards the sender unit.
3. according to the method described in claim 2, it is characterized in that, being determined in the signal receiver that the basis receives signal
After the angular relationship of the sender unit and the equipment, further includes:
The distance between the equipment and sender unit are determined by range unit, in order to determine institute by the distance
State the movement velocity of equipment.
4. a kind of apparatus control system characterized by comprising signal receiving device is connected with the signal receiving device
Judging unit, the determination unit being connected with the judging unit, in which:
The signal receiving device is used to receive the signal of sender unit real time emission, and the signal receiving device includes setting
Set at least three signal receiver in different directions, wherein sender unit real time emission is received by signal receiving device
Signal, specifically: pass through one or several receptions at least three signal receiver sender unit transmitting
Signal and reading；
Whether the signal that the judging unit is used to judge to receive is specified sender unit transmitting, if so, hair
First determine signal out；
The determination unit is used to receive the first determination signal, and according to the signal receiver determination for receiving signal
The angular relationship of sender unit and the equipment, the angular relationship are filled for adjusting the equipment and signal transmitting
Angle between setting, wherein the signal receiver that the basis receives signal determines that the sender unit is set with described
Standby angular relationship, specifically: the determination unit includes the first determining subelement and second determines subelement, and described first really
Stator unit is respectively received the number of signal for determining described in the given time at least three signal receiver, and described the
Two determine that subelement is used to be respectively received the number of signal according at least three signal receiver and described at least three is believed
Angular relationship between number receiver determines the angular relationship of the sender unit Yu the equipment.
5. system according to claim 4, which is characterized in that further include: the adjustment unit being connected with the determination unit,
Wherein:
The adjustment unit is used to adjust the direction of motion of the equipment, makes the direction of motion of the equipment towards the letter
Number emitter.
6. system according to claim 5, which is characterized in that further include: the range unit being connected with the adjustment unit,
Wherein:
The range unit for determining the distance between the equipment and the sender unit, in order to described in passing through away from
Movement velocity from the determination equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510325011.1A CN106292357B (en) | 2015-06-12 | 2015-06-12 | A kind of apparatus control method and system |
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| CN201510325011.1A CN106292357B (en) | 2015-06-12 | 2015-06-12 | A kind of apparatus control method and system |
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| CN106292357B true CN106292357B (en) | 2019-09-24 |
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| CN107584491B (en) * | 2017-09-29 | 2020-03-24 | 深圳市盛路物联通讯技术有限公司 | Robot movement control method and device based on direction-finding antenna |
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| CN201237738Y (en) * | 2008-08-01 | 2009-05-13 | 邓伟雄 | Golf cart with intelligent automatic searching and tracing function |
| CN102348068B (en) * | 2011-08-03 | 2014-11-26 | 东北大学 | Head gesture control-based following remote visual system |
| CN103251359B (en) * | 2012-02-16 | 2017-03-08 | 恩斯迈电子(深圳)有限公司 | Control method of sweeping robot |
| WO2015053700A1 (en) * | 2013-10-09 | 2015-04-16 | Bestic Ab | Eating aid robot and method for controlling the same |
| CN103809174B (en) * | 2014-03-13 | 2016-10-05 | 丁一 | Automatic follower method and device |
| CN104260092B (en) * | 2014-07-08 | 2015-12-30 | 大连理工大学 | One is automatically followed the tracks of robot controller and is automatically followed the tracks of robot |
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